Rotary flapping underwater low-frequency sound emitting device and control method

Abstract

The application discloses a rotary flapping-wing underwater low-frequency sound emitting device and a control method. The device comprises a support and a flapping-wing device for flapping water flow. The support is provided with a rotary driving device for controlling the rotation of the flapping-wing device and a flapping device for controlling the linear reciprocating motion of the flapping-wing device. When the device is started and operated, the rotary driving device controls the rotary motion of the flapping-wing, and the flapping device controls the periodic linear reciprocating motion of the flapping-wing at the same time. The flapping-wing flaps the water flow under the cooperative driving of the rotary motion and the linear reciprocating motion, so that the water flow forms a multi-directional and periodic composite disturbance, greatly improves the energy exchange efficiency of the flapping-wing and the water flow, and improves the emission power of the low-frequency sound wave. Moreover, the rotary motion and the linear reciprocating motion of the flapping-wing do not interfere with each other, the rotary motion parameters and the linear reciprocating motion parameters of the flapping-wing can be independently adjusted, different frequency characteristics of the low-frequency sound wave can be modulated, and different underwater application scenarios can be adapted.

Description

Rotary flapping-wing underwater low-frequency sound generator and control method Technical Field

[0001] This invention relates to the field of underwater sound source equipment technology, and in particular to a rotating flapping-wing type underwater low-frequency sound generating device and its control method. Background Technology

[0002] Ocean research, development, and utilization are inseparable from sound waves, as sound waves are the only information carrier capable of long-distance propagation in the ocean. In recent years, the development trend of underwater sound source equipment has been towards low frequency, high power, and small size. Underwater sound source equipment is mainly used to generate low-frequency sound waves underwater. Since underwater target radiated noise is mainly concentrated in the low-frequency band, and low-frequency sound waves have the unique advantage of long propagation distance, underwater sound source equipment has very important application prospects in marine research and national defense construction.

[0003] Currently, the main power drives for underwater acoustic source devices at home and abroad are active material drive, electromagnetic drive, and explosive drive. However, active material drive is limited by the displacement of piezoelectric ceramics and rare earth giant magnetostrictive materials, requiring a large radiation area to achieve low-frequency high-power transmission, resulting in high transducer size and weight and low energy density. Electromagnetic drive utilizes the interaction between electric and magnetic fields, and the radiation area can reach the millimeter level. However, due to the limitations of heat generation, loss, and inherent magnetic saturation, its output force is small and its energy conversion efficiency is low. Explosive drive is commonly used in air guns and plasma sources. Both of them release energy instantaneously in water, and the frequency controllability is poor, making it difficult to form continuous strong sound waves. Summary of the Invention

[0004] To address the technical problems of poor frequency controllability and difficulty in high-power low-frequency sound wave emission in underwater sound source devices, this invention proposes a rotating flapping-wing type underwater low-frequency sound generation device and its control method.

[0005] This invention is achieved by the following technical solution:

[0006] In a first aspect, the present invention proposes a rotating flapping-wing underwater low-frequency sound generating device, including a support frame and a flapping wing device for flapping water flow. The support frame is provided with a rotation drive device for controlling the rotation of the flapping wing device and a flapping device for controlling the linear reciprocating motion of the flapping wing device.

[0007] By adopting the above technical solution, when the underwater low-frequency sound generating device is started up, the rotary drive device controls the flapping fin to rotate. While the flapping fin is rotating, the flapping device controls the flapping fin to perform periodic linear reciprocating motion. Under the coordinated drive of the rotational motion and the linear reciprocating motion, the flapping fin flaps the water flow, causing the water flow to form a multi-directional, periodic composite disturbance, which greatly improves the energy exchange efficiency between the flapping fin and the water flow, reduces the energy loss of fluid fluctuations, and increases the transmission power of low-frequency sound waves.

[0008] Meanwhile, since the rotational motion and linear reciprocating motion of the flapping fins do not interfere with each other, low-frequency sound waves with different frequency characteristics can be modulated by independently adjusting the rotational motion parameters and linear reciprocating motion parameters of the flapping fins to adapt to different underwater application scenarios.

[0009] As described above, a rotary flapping-wing underwater low-frequency sound-generating device includes a hub with symmetrically arranged mounting bases on which flapping wings are mounted.

[0010] As described above, in a rotary flapping-wing underwater low-frequency sound-generating device, the hub is connected to a hub shaft, and a hub bearing sleeve is sleeved on the hub shaft. Both ends of the hub bearing sleeve are provided with hub bearings for supporting the rotational movement of the hub shaft.

[0011] As described above, a rotary flapping-wing underwater low-frequency sound generating device includes a rotary drive device comprising a rotary shaft connected to the hub shaft, a rotor for driving its rotation on the rotary shaft, a stator sleeved on the outer side of the rotor, and a first protective housing on the outer side of the stator.

[0012] As described above, in a rotary flapping-wing underwater low-frequency sound-generating device, a rotating shaft flange is provided at the connection between the rotating shaft and the rotating hub shaft.

[0013] As described above, a rotary flapping-wing underwater low-frequency sound-generating device includes a flapping device comprising a power component and a conversion component. The conversion component is used to convert the flapping power provided by the power component into power to control the linear reciprocating motion of the flapping wing device.

[0014] As described above, in a rotary flapping-wing underwater low-frequency sound-generating device, the power assembly includes a vibration table that provides flapping power, a flapping shaft connected to the power output side of the vibration table, and a flapping shaft bearing sealing sleeve fitted onto the flapping shaft.

[0015] As described above, in a rotary flapping wing type underwater low-frequency sound generating device, the conversion component includes a main shaft, which passes through the rotating shaft and the hub shaft in sequence. One end of the main shaft near the flapping shaft is provided with a bearing structure for converting the flapping force into a linear reciprocating flapping force, and the other end of the main shaft is provided with a connecting rod structure for controlling the linear reciprocating motion of the flapping wing.

[0016] As described above, a rotary flapping-wing underwater low-frequency sound generator includes a bearing structure comprising a double-row tapered bearing mounted on a main shaft. The double-row tapered bearing is used to withstand bidirectional axial and radial forces when the main shaft reciprocates along the axial direction. The end of the main shaft is provided with a bearing clamping member for driving the movement of the double-row tapered bearing. The double-row tapered bearing is provided with a limiting collar connected to the bearing clamping member. The limiting collar is used to restrict the degree of freedom of movement of the double-row tapered bearing. A protective kit is also provided on the outside of the limiting collar. The protective kit is equipped with a tensioning member, which is used to adjust the degree of restriction of the limiting collar on the double-row tapered bearing.

[0017] As described above, a rotary flapping-wing underwater low-frequency sound generating device includes a flapping link structure. One end of the flapping link is connected to a lug fixed on the main shaft, and the other end of the flapping link is connected to a mounting protrusion fixed on the mounting base. The mounting base is also provided with a groove for the flapping link to perform linear reciprocating motion.

[0018] Secondly, the present invention also proposes a control method for a rotary flapping-wing underwater low-frequency sound generating device, comprising the following steps:

[0019] S1: Receive independent control parameters input by the user, the independent control parameters including at least rotational motion parameters for controlling the rotational motion of the flapping wing device, and flapping motion parameters for controlling the linear reciprocating motion of the flapping wing device;

[0020] S2: Based on the rotational motion parameters, a first drive signal is generated and sent to the rotational drive device through the first independent control channel to drive the flapping wing to perform rotational motion;

[0021] S3: Based on the flapping motion parameters, a second drive signal is generated and sent to the flapping device through the second independent control channel to drive the flapping wing to perform linear reciprocating motion;

[0022] The first independent control channel and the second independent control channel do not interfere with each other, so that the rotational motion and linear reciprocating motion of the flapping wing can be independently and synchronously controlled to synthesize a composite acoustic signal with specific frequency characteristics.

[0023] Compared with the prior art, the rotary flapping-wing underwater low-frequency sound generating device and control method proposed in this invention have the following beneficial effects:

[0024] 1. The rotary flapping wing underwater low-frequency sound generating device proposed in this invention, when started up, the rotary drive device controls the flapping wing to rotate, and the flapping device controls the flapping wing to perform periodic linear reciprocating motion while the flapping wing is rotating. Under the coordinated drive of the rotational motion and the linear reciprocating motion, the flapping wing flaps the water flow, so that the water flow forms a multi-directional, periodic composite disturbance, which greatly improves the energy exchange efficiency between the flapping wing and the water flow, reduces the energy loss of fluid fluctuations, and increases the transmission power of low-frequency sound waves.

[0025] 2. The rotary drive device and flapping device proposed in this invention do not interfere with each other, so that low-frequency sound waves with different frequency characteristics can be modulated by independently adjusting the rotational motion parameters and linear reciprocating motion parameters of the flapping wing to adapt to different underwater application scenarios. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0027] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0028] Figure 2 is a schematic diagram of the decomposition of Figure 1;

[0029] Figure 3 is a cross-sectional schematic diagram of the present invention;

[0030] Figure 4 is an enlarged schematic diagram of part A in Figure 3;

[0031] Figure 5 is an enlarged schematic diagram of part B in Figure 3;

[0032] Figure 6 is an exploded schematic diagram of the flapping wing device of the present invention;

[0033] Figure 7 is a schematic diagram of the linkage structure of the present invention;

[0034] Figure 8 is a schematic diagram of the power component structure of the present invention;

[0035] Figure 9 is a structural block diagram of the control module of the present invention;

[0036] Figure 10 is a flowchart of the control method for the rotary flapping wing underwater low-frequency sound generator of the present invention.

[0037] The attached diagram lists the components represented by each number as follows:

[0038] 10. Bracket; 20. Fluttering wing device; 21. Hub; 22. Mounting base; 221. Mounting protrusion; 222. Groove; 23. Fluttering wing; 24. Hub shaft; 25. Hub bearing sleeve; 251. Hub bearing; 30. Rotary drive device; 31. Shaft; 311. Shaft bearing; 32. Rotor; 33. Stator; 34. First protective housing; 35. Shaft flange; 40. Fluttering device; 41. Power assembly; 411. Vibration device 412. Moving table; 413. Fluttering shaft; 414. Bearing seal cylinder; 415. Second protective housing; 42. Conversion assembly; 421. Main shaft; 422. Bearing structure; 4221. Double row tapered bearing; 4222. Bearing clamping component; 4223. Limiting collar; 4224. Protective kit; 4225. Tightening component; 423. Connecting rod structure; 4231. Fluttering connecting rod; 4232. Shaft lug; 424. Main shaft flange; 50. Multi-grid cover. Detailed Implementation

[0039] To make the technical problems solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0040] Please refer to Figures 1 to 8. An embodiment of the present invention proposes a rotating flapping-wing underwater low-frequency sound generating device, including a support 10 and a flapping wing device 20 for flapping water flow. The support 10 is provided with a rotation drive device 30 for controlling the rotation of the flapping wing device 20 and a flapping device 40 for controlling the linear reciprocating motion of the flapping wing device 20.

[0041] In this embodiment, when the underwater low-frequency sound generating device is started up, the rotary drive device controls the flapping fin to rotate. While the flapping fin rotates, the flapping device controls the flapping fin to perform periodic linear reciprocating motion. Under the coordinated drive of the rotational motion and the linear reciprocating motion, the flapping fin flaps the water flow, causing the water flow to form a multi-directional, periodic composite disturbance, which greatly improves the energy exchange efficiency between the flapping fin and the water flow, reduces the energy loss of fluid fluctuations, and increases the transmission power of low-frequency sound waves.

[0042] Meanwhile, since the rotational motion and linear reciprocating motion of the flapping fins do not interfere with each other, low-frequency sound waves with different frequency characteristics can be modulated by independently adjusting the rotational motion parameters and linear reciprocating motion parameters of the flapping fins to adapt to different underwater application scenarios.

[0043] Furthermore, as a preferred embodiment of this solution and not a limitation thereof, the flapping wing device 20 includes a hub 21, the hub 21 having symmetrically arranged mounting bases 22, and flapping wings 23 mounted on the mounting bases 22.

[0044] In a preferred embodiment, the hub 21 is connected to a hub shaft 24, and a hub bearing sleeve 25 is sleeved on the hub shaft 24. The hub bearing sleeve 25 has hub bearings 251 at both ends for supporting the rotational movement of the hub shaft 24.

[0045] The hub shaft 24 is a hollow structure.

[0046] In this embodiment, the symmetrically arranged mounting bases on the hub provide a precise and symmetrical assembly reference for the flapping wings on both sides, avoiding problems such as water flow disturbance and sound wave signal distortion caused by uneven force on the flapping wings on both sides during the operation of the underwater low-frequency sound generation equipment, which would affect the low-frequency sound generation effect.

[0047] Secondly, the hub bearing sleeve is installed outside the hub shaft, and the hub bearings at both ends are precisely matched with the hub shaft, providing high-precision, low-friction support for the rotational movement of the hub shaft. This prevents radial offset or swaying of the hub shaft during high-speed rotation, ensuring the smoothness and continuity of the hub shaft's rotational movement. Furthermore, the hub bearing sleeve protects the hub shaft and hub bearings, preventing underwater impurities and water flow impacts from corroding the core transmission components and ensuring the reliability of power transmission.

[0048] It should be noted that the aforementioned hub 21 can be replaced with different sizes, and the aforementioned flapping fins can also be replaced with different shapes or sizes to adapt to different underwater environments.

[0049] Furthermore, as a preferred embodiment of this solution and not a limitation thereof, the rotary drive device 30 includes a rotating shaft 31 connected to the hub shaft 24, a rotor 32 for driving its rotation is provided on the rotating shaft 31, and a stator 33 is sleeved on the outer side of the rotor.

[0050] In a preferred embodiment, the two ends of the rotating shaft 31 are provided with rotating shaft bearings 311 to provide support for its rotation.

[0051] The rotating shaft 31 is a hollow structure.

[0052] In this embodiment, when the underwater low-frequency sound-generating device is running, the stator receives the working current output by the working power supply and generates a periodically changing magnetic field according to the principle of electromagnetic induction. The generated changing magnetic field acts on the rotor, causing the rotor to obtain rotational torque and rotate around the axis. The rotational power generated by the rotor is transmitted to the rotating shaft, causing the rotating shaft to rotate synchronously. The rotating hub shaft connected to the rotating shaft also rotates synchronously, thereby providing a continuous and stable power source for the rotational motion of the flapping fin. Secondly, the rotating shaft bearings set at both ends of the rotating shaft will constrain the radial displacement and axial movement of the rotating shaft, avoiding deviation, swaying or tilting during the rotation of the rotating shaft, ensuring stable rotating shaft speed and accurate torque transmission.

[0053] In a preferred embodiment, the stator 33 is provided with a first protective housing 34 on its outer side.

[0054] In this embodiment, the first protective shell can effectively block underwater silt, suspended impurities, etc. from eroding and damaging the stator, rotor, and shaft, and prevent impurities from entering the mating gap between the stator and rotor, which could cause electromagnetic drive jamming or malfunction. It can also buffer the direct force of water flow impact on the stator, preventing the stator structure from loosening or deforming, thus affecting the output of the rotational drive force.

[0055] In a preferred embodiment, a shaft flange 35 is provided at the connection between the rotating shaft 31 and the rotating hub shaft 24.

[0056] Since most existing shaft-to-shaft connections use welding or plug-in joints, these connections are prone to cracking or loosening. When faced with underwater environments, especially deep-sea environments with vibration and impact loads, these connections are susceptible to breakage and loosening, resulting in an inability to effectively output low-frequency sound waves.

[0057] In this embodiment, the rotating shaft flange forms a coaxial rigid connection structure between the rotating shaft and the rotating hub shaft, enabling the rotational power generated by the rotating shaft to be transmitted to the rotating hub shaft, thereby driving the rotational motion of the flapping wing device. At the same time, the rigid connection structure formed by the rotating shaft flange, compared with traditional welding or plug-in connection methods, can effectively withstand the torque transmitted by the rotating shaft and the impact loads such as vibrations in the underwater environment, avoiding loosening, breakage, and other failures at the connection points, ensuring the continuity and reliability of power transmission, and thus ensuring the stability of the rotational motion of the flapping wing device, avoiding interruption or distortion of sound wave output due to connection failure.

[0058] Furthermore, as a preferred embodiment of this solution and not a limitation thereof, the flapping device 40 includes a power component 41 and a conversion component 42, wherein the conversion component 42 is used to convert the flapping power provided by the power component 41 into power for controlling the linear reciprocating motion of the flapping wing device 20.

[0059] In a preferred embodiment, the power assembly 41 includes a vibration table 411 that provides flapping power, and a flapping shaft 412 is connected to the power output side of the vibration table 411. The flapping shaft 412 is fitted with a flapping shaft bearing sealing sleeve 413.

[0060] The vibration table 411 is further provided with a second protective shell 414 on its outer side. The second protective shell 414 is used to prevent underwater foreign objects from damaging and corroding the vibration table 411 and the flapping shaft 412.

[0061] It is worth noting that the aforementioned vibration table 411 is a type of periodic vibration force that can output specific frequency and amplitude characteristics according to preset control commands, thereby providing a stable power source for the linear reciprocating motion of the flapping wing 23.

[0062] In this embodiment, the conversion component can convert the flapping force output by the vibration table into the power to control the linear reciprocating motion of the flapping wing device without interfering with the rotational motion of the flapping wing device. This avoids problems such as interference between the linear reciprocating motion and the rotational motion, and disordered power transmission. It ensures that the linear reciprocating motion and the rotational motion of the flapping wing work together without motion interference, and ensures that the frequency of the low-frequency sound wave output is stable and the waveform is uniform.

[0063] In a preferred embodiment, the conversion assembly 42 includes a main shaft 421, which passes through the rotating shaft 31 and the hub shaft 24 in sequence. One end of the main shaft 421 near the flapping shaft 412 is provided with a bearing structure 422 for converting flapping force into linear reciprocating flapping force, and the other end of the main shaft 421 is provided with a connecting rod structure 423 for controlling the linear reciprocating motion of the flapping wing 23.

[0064] Optionally, the bearing structure 422 includes a double-row tapered bearing 4221 mounted on the spindle 421. The double-row tapered bearing 4221 is used to withstand the bidirectional axial and radial forces when the spindle 421 reciprocates along the axial direction. The end of the spindle 421 is provided with a bearing clamping member 4222 for driving the movement of the double-row tapered bearing 4221. The double-row tapered bearing 4221 is provided with a limiting collar 4223 connected to the bearing clamping member 4222. The limiting collar 4223 is used to restrict the degree of freedom of movement of the double-row tapered bearing 4221. A protective sleeve 4224 is also provided on the outside of the limiting collar 4223. The protective sleeve 4224 is equipped with a tensioning member 4225. The tensioning member 4225 is used to adjust the degree of restriction of the limiting collar 4223 on the double-row tapered bearing 4221.

[0065] The double-row tapered bearing consists of two single-row bearings arranged back-to-back.

[0066] Specifically, the periodic vibration force output by the vibration table 411 drives the bearing clamping member 4222 to perform synchronous linear reciprocating motion via the flapping shaft 412, which in turn drives the main shaft 421 to perform linear reciprocating motion along the axial direction. During the movement of the main shaft 421, the double-row tapered bearing 4221 bears the bidirectional axial and radial forces of the main shaft 421 during its reciprocating motion along the axial direction, preventing local stress concentration during the movement of the main shaft 421 from causing component deformation or power transmission jamming. At the same time, the tightness of the limiting collar 4223 is adjusted by the tightening member 4225 installed on the protective kit 4224, thereby adjusting the clamping force on the double-row tapered bearing 4221 through the limiting collar 4223, limiting the degree of freedom of movement of the double-row tapered bearing 4221, ensuring that the movement of the main shaft 421 is linear, and avoiding mechanical wear or power transmission jamming caused by rotation or sway.

[0067] In this embodiment, the double-row tapered bearing adopts a structure of two single-row bearings back to back, with their contact positions arranged symmetrically. It can simultaneously bear the bidirectional axial force (i.e., the bidirectional force during the spindle push-pull process) and radial force (i.e., the offset force perpendicular to the axis caused by assembly deviation or water flow disturbance during the spindle push-pull process) generated when the spindle reciprocates along the axial direction. This uniformly distributes the combined force to the two single-row bearings, achieving balanced bearing of multi-directional forces and effectively avoiding component deformation or power transmission jamming caused by local stress concentration.

[0068] Optionally, the linkage structure 423 includes a flapping linkage 4231, one end of which is connected to a lug 4232 fixed on the main shaft 421, and the other end of which is connected to a mounting protrusion 221 fixed on the mounting base 22. The mounting base 22 is also provided with a groove 222 for the flapping linkage 4231 to perform linear reciprocating motion.

[0069] In this embodiment, when the main shaft 421 performs linear reciprocating motion, the flapping link 4231 is driven to perform linear reciprocating motion synchronously through the lug 4232. The other end of the flapping link 4231 transmits the power of the linear reciprocating motion to the mounting base 22 through the mounting protrusion 221. The groove 222 on the mounting base 22 ensures that the flapping link 4231 can only perform linear reciprocating motion along the groove 222, effectively limiting the offset of the flapping link 4231 during the motion, thereby driving the flapping wing 23 to perform linear reciprocating motion.

[0070] In a preferred embodiment, a main shaft flange 424 is provided at the connection between the flapping shaft 412 and the main shaft 421.

[0071] In this embodiment, the main shaft flange forms a coaxial rigid connection structure between the main shaft and the flapping shaft, so that the linear reciprocating motion force of the flapping shaft can be transmitted to the main shaft, thereby driving the linear reciprocating motion of the flapping wing.

[0072] Furthermore, as a preferred embodiment of this solution and not a limitation, the flapping wing device 20 is provided with a multi-grid cover 50 on its outer periphery, the multi-grid cover 50 being a uniformly hollowed-out grid structure.

[0073] Because underwater environments commonly contain foreign objects such as silt, suspended impurities, small marine organisms, and floating debris, these foreign objects are prone to colliding with the high-speed flapping wing during its high-speed rotation and linear reciprocating motion, causing the flapping wing to deform or break. They are also prone to getting tangled in the linkage structure, causing damage to the linkage structure and jamming of power transmission.

[0074] In this embodiment, a multi-mesh cover surrounds the flapping wing. Through its uniformly perforated mesh structure, it forms a protective barrier. On the one hand, it can effectively block large underwater foreign objects from entering the inner flapping wing movement area, preventing foreign objects from colliding with the high-speed flapping wing or getting entangled in the connecting rod structure, causing component damage and affecting the emission of underwater low-frequency sound waves. On the other hand, the uniformly distributed mesh structure can straighten and guide the water flow entering the flapping wing movement area, allowing the water flow to flow smoothly through the flapping wing in a preset direction, reducing the interference of disordered water flow on the flapping wing's flapping water flow, and ensuring that the generated low-frequency sound waves have stable frequency, uniform amplitude, and low distortion.

[0075] In some embodiments, to precisely and independently control the compound motion of the flapping fins and achieve intelligent operation, the rotary flapping fin underwater low-frequency sound generator of the present invention further includes a control module. The control module is integrated inside the device or connected via wired / wireless means, and its core includes a voltage conversion module, a main control module, a rotation drive module, and a flapping drive module. The voltage conversion module is responsible for converting a single external power supply into multiple stable DC power supplies with different voltage levels, providing suitable power to various electrical components within the system. The main control module, as the control center, establishes communication links with the rotation drive module and the flapping drive module through independent communication ports I and II, respectively. Users can input control commands and parameters through a host computer or human-machine interface. After receiving these commands, the main control module sends the rotational motion control parameters (such as rotation speed and direction) to the rotation drive module and the flapping motion control parameters (such as flapping frequency and amplitude) to the flapping drive module through two independent, non-interfering communication links. The rotation drive module drives the stator 33 within the rotation drive device 30 to operate according to commands, thereby precisely controlling the rotational motion of the flapping wing 23. The flapping drive module, on the other hand, drives the vibration table 411 within the flapping device 40 to operate according to commands, thereby independently controlling the linear reciprocating motion of the flapping wing 23. This dual-channel independent control architecture ensures complete decoupling of the rotational motion and flapping motion in terms of power source and control logic, realizing independent, precise, and continuous adjustment of the two motion parameters (such as rotational frequency and flapping frequency). This enables the synthesis of composite acoustic signals with rich and diverse frequency characteristics, greatly enhancing the equipment's adaptability and control flexibility for different underwater application scenarios (such as communication at different distances and detection of different targets).

[0076] Specifically, the control module also features real-time monitoring and self-diagnosis of system operation status. After power-on, the main control module automatically executes system initialization and self-test procedures, verifying the communication links with the rotation drive module and the flapping drive module to ensure they are functioning correctly, and reads the initial states of each sensor to ensure the system is ready. During operation, the rotation drive module collects real-time operating parameters of the rotation drive device 30, such as motor speed, operating current, and winding temperature; the flapping drive module collects real-time operating parameters of the flapping device 40, such as the flapping frequency, actual displacement, and drive current of the vibration table 411, and transmits these parameters back to the main control module via their respective communication links. The main control module processes and integrates the received data, displaying key waveforms such as "speed-time," "flapping displacement-time," and "current-time" intuitively on the connected display interface in the form of numbers, dashboards, or real-time data curves. This allows users to intuitively and accurately monitor the real-time operating status and load of the equipment. This closed-loop monitoring mechanism not only facilitates timely detection of abnormalities such as overload and jamming by operators but also provides a data foundation for adaptive control and fault early warning of the equipment.

[0077] More specifically, the control module integrates a data storage unit for recording and subsequent playback analysis of system operating data, which is crucial for sound source characteristic research and equipment optimization. All monitored real-time operating parameters and user-defined motion parameters can be stored synchronously. The operating parameters specifically include two categories: first, motion parameters, namely rotational motion parameters and flapping wing reciprocating motion parameters, such as flapping frequency and amplitude; second, geometric parameters, namely the physical parameters of the replaceable hub 21 and flapping wing 23, such as hub diameter, flapping wing size, shape, number of installations, and angle of attack. By systematically changing and recording these combinations of operating parameters, while simultaneously recording the acoustic signals output by the equipment, a detailed "operating condition-sound source characteristic" relationship database can be constructed. Researchers can use this to deeply analyze the influence of different combinations of rotational speed and flapping frequency on the output sound wave spectrum, sound source level, and directivity, and can also evaluate the hydrodynamic efficiency and acoustic radiation efficiency of flapping wings with different geometric shapes under different motion modes. This feature greatly facilitates the research and development process of finding the optimal combination of equipment configuration and motion parameters for specific application objectives, demonstrating the high researchability and engineering application value of the device of this invention.

[0078] Referring to Figures 9 and 10, this embodiment of the invention also proposes a control method for a rotary flapping-wing type underwater low-frequency sound generator, comprising the following steps:

[0079] S1: Receive independent control parameters input by the user, the independent control parameters including at least rotational motion parameters for controlling the rotational motion of the flapping wing device, and flapping motion parameters for controlling the linear reciprocating motion of the flapping wing device;

[0080] S2: Based on the rotational motion parameters, a first drive signal is generated and sent to the rotational drive device through the first independent control channel to drive the flapping wing to perform rotational motion;

[0081] S3: Based on the flapping motion parameters, a second drive signal is generated and sent to the flapping device through the second independent control channel to drive the flapping wing to perform linear reciprocating motion;

[0082] The first independent control channel and the second independent control channel do not interfere with each other, so that the rotational motion and linear reciprocating motion of the flapping wing can be independently and synchronously controlled to synthesize a composite acoustic signal with specific frequency characteristics.

[0083] In this embodiment, the control method aims to achieve precise and intelligent control of a rotary flapping-wing underwater low-frequency sound generator. The control method is based on a control module, which includes a main control module, a rotation drive module, and a flapping drive module. After the device is powered on, the main control module first performs system initialization and self-test steps: verifying the normality of the communication links (such as communication ports I and II) between itself and the rotation drive module and the flapping drive module, and reading the initial status data of each sensor (such as temperature and position sensors) to ensure that the entire control system is in a ready state for normal operation. The voltage conversion module provides a suitable and stable power supply to each module.

[0084] Specifically, referring to Figures 9 and 10, the user inputs the desired motion control parameters through the host computer software or the device's human-machine interface. These parameters are sent to the main control module as "independent control parameters." These independent control parameters are clearly divided into two categories: first, rotational motion parameters, such as the target rotation speed and direction of rotation (clockwise / counterclockwise); and second, flapping motion parameters, such as the target flapping frequency and flapping amplitude (or displacement). The main control module receives and parses these parameters to prepare for generating drive commands.

[0085] More specifically, referring to Figures 9 and 10, the main control module employs dual-channel independent control logic. In the first independent control channel, the main control module generates corresponding first drive commands, such as PWM waves of specific frequency and voltage, based on the analyzed rotational motion parameters (e.g., target rotational speed), and sends them to the rotational drive module via an independent communication link (e.g., communication port I). After receiving the commands, the rotational drive module drives the stator 33 in the rotational drive device 30 to operate, thereby precisely controlling the flapping wing 23 to rotate at the set speed and direction. In the second independent control channel, the main control module synchronously generates corresponding second drive commands based on the analyzed flapping motion parameters, such as target flapping frequency and amplitude, and sends them to the flapping drive module via another independent communication link, such as communication port II. After receiving the commands, the flapping drive module drives the vibration table 411 in the flapping device 40 to operate, thereby independently controlling the flapping wing 23 to perform linear reciprocating motion at the set frequency and amplitude. Crucially, these two control channels are decoupled and do not interfere with each other at the signal generation, transmission, and execution levels. This allows the rotation speed and flapping frequency to be adjusted independently and continuously without coupling or interference. Operators can freely combine different rotation speed and flapping frequency parameters, causing the flapping wings to strike the water flow under compound motion, thereby synthesizing a composite low-frequency sound signal with rich frequency components and adjustable characteristics to meet the differentiated requirements of sound source characteristics in different scenarios such as underwater communication and detection.

[0086] In some embodiments, during equipment operation, the method further includes a real-time monitoring and feedback step. The rotary drive module collects real-time operating status parameters of the rotary drive device 30, such as the actual speed of the motor, operating current, and winding temperature. The flapping drive module collects real-time operating status parameters of the flapping device 40, such as the actual flapping frequency of the vibration table, displacement feedback signal, and drive current. These real-time parameters are transmitted back to the main control module via their respective communication links. The main control module processes and integrates the received data, converting it into visualized monitoring information. For example, it can dynamically display "speed-time curves," "flapping displacement-time curves," and "current-time curves" in the form of numbers, dashboards, or real-time data curves on the host computer interface. This real-time monitoring mechanism allows operators to intuitively grasp the equipment's operating status and load, promptly detect overload, jamming, and other abnormalities, and provide a data foundation for potential fault warnings and adaptive control.

[0087] In some embodiments, the control method further includes a data storage and analysis step. The data storage unit within the control module synchronously records two types of key data: first, all user-defined "motion parameters" (i.e., rotational motion parameters and flapping motion parameters); and second, "real-time operating parameters" monitored during equipment operation (i.e., the various status data transmitted back). In addition, the "geometric parameters" of the current equipment configuration can also be associated and recorded, such as the dimensions of the installed hub 21, the shape, area, and number of flapping wings 23, etc., where these are parameters of replaceable physical components. By systematically changing the combination of motion parameters and geometric parameters and operating the equipment, while simultaneously recording the acoustic signals output by the equipment, a complete "operating condition-sound source characteristics" relational database can be constructed. This function allows researchers to replay and analyze the influence of different parameter combinations (such as different "rotational frequency-flapping frequency" pairs) on the final generated sound wave spectrum, sound source level, and directivity based on historical data, or to evaluate the hydrodynamic and acoustic radiation efficiency of different flapping wing geometries. This greatly facilitates the research and development process of optimizing equipment parameters to achieve specific acoustic performance goals (such as maximizing sound power in a specific frequency band).

[0088] Those skilled in the art should understand that the above description is one embodiment provided in conjunction with specific content, and does not imply that the specific implementation of the present invention is limited to these descriptions. Furthermore, due to differences in industry naming conventions, the invention is not limited to the above names or English names. Any methods or structures similar to or identical to those of the present invention, or any technical deductions or substitutions made based on the concept of the present invention, should be considered within the scope of protection of the present invention.

Claims

1. A rotating flapping-wing type underwater low-frequency sound generating device, characterized in that, The device includes a support (10) and a flapping wing device (20) for flapping water flow. The support (10) is provided with a rotary drive device (30) for controlling the rotation of the flapping wing device (20) and a flapping device (40) for controlling the linear reciprocating motion of the flapping wing device (20). The flapping device (40) includes a vibration table (411) for providing flapping power. The power output side of the vibration table (411) is connected to a flapping shaft (412). The flapping device (40) also includes a conversion component (42). The conversion component (42) includes a main shaft (421). The main shaft (421) passes through the rotary drive device (30) and the hub shaft (24) in sequence. One end of the main shaft (421) near the flapping shaft (412) is provided with a bearing structure (422) for converting the flapping power into linear reciprocating flapping power. The other end of the main shaft (421) is provided with a connecting rod structure (423) for controlling the linear reciprocating motion of the flapping wing (23).

2. The rotary flapping-wing underwater low-frequency sound generating device according to claim 1, characterized in that, The flapping wing device (20) includes a hub (21), the hub (21) is provided with symmetrically arranged mounting bases (22), and flapping wings (23) are mounted on the mounting bases (22).

3. The rotating flapping-wing underwater low-frequency sound generating device according to claim 2, characterized in that, The hub (21) is connected to a hub shaft (24), and a hub bearing sleeve (25) is sleeved on the hub shaft (24). The two ends of the hub bearing sleeve (25) are provided with hub bearings (251) for supporting the rotational movement of the hub shaft (24).

4. The rotary flapping-wing underwater low-frequency sound generating device according to claim 3, characterized in that, The rotary drive device (30) includes a rotating shaft (31) connected to the hub shaft (24), a rotor (32) for driving its rotation is provided on the rotating shaft (31), a stator (33) is sleeved on the outside of the rotor (32), and a first protective housing (34) is provided on the outside of the stator.

5. A rotating flapping-wing underwater low-frequency sound generating device according to claim 4, characterized in that, A shaft flange (35) is provided at the connection between the shaft (31) and the hub shaft (24).

6. A rotating flapping-wing underwater low-frequency sound generating device according to claim 4, characterized in that, The flapping device (40) includes a power component (41) and a conversion component (42). The conversion component (42) is used to convert the flapping power provided by the power component (41) into power to control the linear reciprocating motion of the flapping wing device (20).

7. A rotating flapping-wing underwater low-frequency sound generating device according to claim 6, characterized in that, The power assembly (41) includes a vibration table (411) that provides flapping power. The power output side of the vibration table (411) is connected to a flapping shaft (412), and the flapping shaft (412) is fitted with a flapping shaft bearing seal sleeve (413).

8. A rotating flapping-wing underwater low-frequency sound generating device according to claim 2, characterized in that, The bearing structure (422) includes a double-row tapered bearing (4221) mounted on the main shaft (421). The double-row tapered bearing (4221) is used to withstand the bidirectional axial and radial forces when the main shaft (421) reciprocates along the axial direction. The end of the main shaft (421) is provided with a bearing clamping member (4222) for driving the movement of the double-row tapered bearing (4221). The double-row tapered bearing (4221) is provided with a limiting collar (4223) connected to the bearing clamping member (4222). The limiting collar (4223) is used to restrict the degree of freedom of movement of the double-row tapered bearing (4221). The outer side of the limiting collar (4223) is also provided with... The protective kit (4224) is equipped with a tensioner (4225) for adjusting the limiting collar (4223) on the double-row tapered bearing (4221); the connecting rod structure (423) includes a flapping connecting rod (4231), one end of which is connected to a lug (4232) fixed on the main shaft (421), and the other end of which is connected to a mounting protrusion (221) fixed on the mounting base (22). The mounting base (22) is also provided with a groove (222) for the flapping connecting rod (4231) to perform linear reciprocating motion.

9. A control method for the rotary flapping-wing underwater low-frequency sound generator according to any one of claims 1-8, characterized in that, Includes the following steps: S1: Receive independent control parameters input by the user, the independent control parameters including at least rotational motion parameters for controlling the rotational motion of the flapping wing device (20) and flapping motion parameters for controlling the linear reciprocating motion of the flapping wing device (20); S2: Based on the rotational motion parameters, generate and send a first drive signal to the rotational drive device (30) through the first independent control channel to drive the flapping wing (23) to rotate; S3: Based on the flapping motion parameters, a second driving signal is generated and sent to the flapping device (40) through the second independent control channel to drive the flapping wing (23) to perform linear reciprocating motion; wherein, the first independent control channel and the second independent control channel do not interfere with each other, so that the rotational motion and linear reciprocating motion of the flapping wing (23) can be independently and synchronously controlled to synthesize a composite sound wave signal with frequency characteristics.

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